DE1165135B - Electric step controller - Google Patents

Description

FEDERAL REPUBLIC OF GERMANY

GERMAN

PATENT OFFICE

EDITORIAL

Boarding school Kl .: G05f;

G05g
German class: 21c-46/51

Number: 116 841 VIII b / 21 c

File number: 1165 135

Filing date: August 12, 1959

Opening day: March 12, 1964

The subject of patent 1 149 083 is an electrical step controller which works without a dead zone, is characterized by a very high level of stability and whose control processes extend over different time intervals depending on the difference between the setpoint and the actual value. For this purpose, the main patent is based on a known electrical step controller with at least two similarly constructed relay circuits, which are controlled as a function of the integral of the control deviation, using an integration circuit consisting of an ÄC element, which triggers a control process as soon as the capacitor voltage exceeds a limit value. This known step controller is developed according to the teaching of the main patent in that the ohmic component of the ÄC elements is changed depending on the controlled variable or on the comparison variable, that the control grid of an electron tube is located on the capacitor of each RC element, and that the Capacitors can be bridged by alternately closable contacts belonging to a relay that can be controlled by relay arrangements located in the anode circuits of the electron tubes, so that when the control process is triggered in one direction, the triggering in the opposite direction is blocked, or in such a way that when When a certain voltage is reached on the capacitors of the integration circuit, the control cycle is interrupted.

In the arrangement according to the main patent, there is an integration in the input circles, and both the comparison variable and the variable to be measured. The integration circles are permanent connected to a power source and therefore work with great sensitivity. From the comparison The duration of the control to be carried out by the servomotor is then derived from the integrated variables. With a certain choice of the time constant of the i? C element, this is such that the controlled variable sets to the desired value without oscillation. You can go further with the arrangement according to the main patent that the control device does not when the voltage instantaneous values are exceeded is triggered, but that triggering is only possible through the integration of voltage-time surfaces and when predetermined values are reached. In addition, the larger the deviation increases of the actual value of the setpoint, the step length approximately quadratically, as a result of the fact that for the step duration or, for the regulation, the difference in the voltage time integral is decisive.

Electric step controller
Addendum to the patent: 1149 083

Applicant:

Ing.C. Jan Jelinek, Prague

Representative:

Dipl.-Ing. A. Spreer, patent attorney,

Göttingen, Groner Str. 37

Named as inventor:
Ing.C. Jan Jelinek, Prague

Claimed priority:
Czechoslovakia from September 3, 1958
(No. 4503)

It is the object of the invention to further develop the step controller according to the main patent to the effect that that further areas of application are opened up for him, e.g. B. those where the switching speed the relay contacts are insufficient or the contacts wear out too quickly leads or where the occurrence of contact sparks is impermissible.

This object is achieved according to the invention in that the grid to the capacitor connected electron tube forms the input tube of a monostable trigger circuit and that the anodes of the output tubes each with the grid of two start the servomotor in the one or in the other direction controlling thyratrons or tacitrons and also each are connected to the grid of a double triode, the output of which is connected to each other connected control grid of two thyratrons serving as a discharge circuit for the capacitors is.

When using thyratrons to control the supply circuit in both directions Starting servomotor must have an alternating current source or at least a pulsating direct current source be provided to ensure reliable deletion of the thyratrone. If you use it against it a thyme known under the name Tacitron

409 538/458

ratron with hydrogen filling and a negative one Grid bias, a direct current source can also be provided.

The new arrangement allows the advantages of the teaching of the main patent to be fully exploited without relying on the use of relays with their inherent disadvantages. The step controller works with the exception of the servomotor without any mechanically moving parts or components

The voltage across the integration capacitors 5, 6 increases with time according to an exponential curve at. If, with the same values of the resistors 3 and 4, the voltage of the source 1 is greater than is that of source 2, a higher voltage value will be present across capacitor 5 than across capacitor 6 be. The same case occurs as long as charging is not completed, if at the same voltage of sources 1 and 2 the value of the

bars. There is no risk of sparking. io level 3 is less than the value of resistor 4. There are also no restrictions with regard to the breakover circuit, the circuit known per se the step frequency. and through electron tubes 7, 8, resistors 9 and

The step controller according to the invention is formed in which the capacitor 14 is reached upon reaching Drawing shown for example. It shows a certain exact voltage value, the

Fig. 1 the overall circuit of the electronic 15 is given by the parameters of the breakover circuit, Control device, suddenly tilted, the conductivity of the two

Fig. 2 and 3 circuits for setting the electron tubes 7, 8 of the breakover circuit suddenly ge breakover voltages for the two breakover circuits, namely changes. As long as the voltage at the grid Im in Fig. 2 has a low value due to mutual changes in the size of the electron tube 7, the grid resistances of the second electron tube and 20 of this tube are not conductive, and at their anode la Fig. 3 by controlling the anode voltage of the full Anode voltage of approximately the first electron tube, the same magnitude as that of the power source 23. The

Fig. 4 an alternative circuit of a switching voltage at the anode la is applied to the grid 8m thyratron for the servomotor with interposed electron tube 8 by means of a voltage divider formed by an additional cathode amplifier in order to avoid the 25 positions 10 and 13 via reaction on the breakover circuit, which in contracts. A positive voltage acts on the grid 8 m, and an anode current flows through the electron tube 8 and forms a voltage drop 30 across the cathode resistor 9 that blocks the electron tube 7.

When the voltage across the integration capacitor reaches the breakover value, the electron tube 7 starts to become conductive, since the positive voltage on the capacitor 5 the blocking voltage on the resistor

power sources 1 and 2 are fed. The integra- 35 state 9 is beginning to be overcome. The voltage at the circuits are connected to the grids Im and Im 'of the anode la and thus also the input electron tubes on the grid 8m be by two known tilting gins, whereby the electron tube 8 circles 7 to 14 and T to 14' are connected . The in- is blocked.

With the decrease in the voltage drop on the

the controlled variable can be controlled, either 40 cathode resistor 9, the electron tube 7 is opened by changing the size of the resistors 3, 4 in more and more. The whole process takes place in the integration circuits (variable resistance, abruptly, and the electron tube 7 is full of photo element, thermistor) or by changing the conductive, as long as a sufficient po value of the supply voltages of the direct current-sensitive voltage remains on its grid, while the electron sources 1 and 2, possibly also by a change 45 tube 8 remains blocked. The capacitor 14 of different sizes. In some cases one can decorate the voltage jump and thus accelerate the circuits, e.g. B. 1, 3, 5, serve as a reference value (target tilting. Because the electron tube 8 is worth), the other integration circuit 2 blocks, the voltage suddenly rises at its anode 8 α. 4, 6 adapted to the first circuit by the control. This jump is caused by the resistor 19

will. In other cases, both interfaces can also transmit the grid 15 m of the thyratron 15, this Grationskreise be mutually interchangeable, igniting and thus closes the circuit of the

Power source 17 to the servomotor 18 for one direction of rotation. For the other direction of rotation of the servomotor 18, the circuit is closed via another thyratron 16, which is actuated via a resistor 21 by another tilting circuit T to 14 '

use of a thyratron can occur for large switching capacities, and

F i g. 5 shows the course of the regulation with the device according to the invention.

An electronic step control device according to the invention, the circuit of which is shown in FIG. 1 illustrates has two i? C terms in the function of integration circuits 3, 5 and 4, 6, which are of equals one one of them has a plus and the other a minus deviation and the two circles be balanced to the same value by the control device.

When the voltage is constant, variable photo elements can be used as the measuring value transmitter for the controlled variable Resistors and temperature-dependent resistors can be used. At a constant

The th value of resistors 3 and 4 is referred to as the current 60 index line.

will. This circuit works similarly to the first breakover circuit 7 to 14, and the analog elements are here with the same reference numerals, but with one

source z. B. a speedometer or potentiometer, a special arrangement of a phase discriminator or use a differential converter with a rectifier. In the case of program control operations,

When using thyratrons 15 and 16, the power source 17 must either be an alternating current or supply a pulsating direct current, because in a thyratron one can

one of the integration circuits by changing the 65 ignited arc by simply increasing the Resistance test or 4, possibly not easily erased by span-negative grid potential, without

to interrupt the supply of the anode current. With an alternating current supply or supply with a

change of source 2, can be controlled by the program.

5 6

pulsating current occurs the current for an eye- F i g. 3 illustrates the setting of the tilted view through the zero value, and the light voltages by changing the anode voltage arc in the thyratron goes out. When using the electron tubes 7 and 7 ', which are

Tacitronen can also be used as a pure DC voltage divider, which consists of a

source can be used. 5 potentiometers 41 and two of them form a π element

The anode 8 α is also composed of resistors 42 and 43 via the resistor. 24 connected to the grid 29 m of the electron tube 29 by moving the runner of the potentiometer. The increase in voltage at the anode 8 a 41 is the size of the anode voltages of the electrode also causes an increase in the potential at the electron tubes 7 and 7 'and thus also the size of the grid 29 m and thus also a voltage increase in the breakover voltage on the grids of the two increases the cathode, which mutually changed a current flow through the electron tubes.
Resistance 28 causes. The increase in voltage When using thyratrones with a resistor 28, the resistor 33 on high switching capacity must for reasons of the back the grids 31m and 32m of two thyratrons 31 effect of the thyratron 15 and 16 on the tilting and 32 transferred. The anodes of the thyratron 31 α 15 circle in the lattice circle of the thyratron 15 or 16 and 32 a are connected to the integration capacitors 5, a cathode amplifier as an isolating stage and 6 connected in parallel. The resistors 33 and 34 are. This embodiment is shown in FIG. The anode of the electron tube 8 or 8 'is over measure that the two thyratrons 31 and 32 at the resistor 46 to the grid of the as cathode tilting only one of the tilting circuits 7 to 14 or 7 'to 20 amplifier-connected electron tube 44 remain connected-14' in a non-conductive state. After that, the resistor 45 is connected to the cathode. Tilting the other tilting circle, e.g. B. 7 'to 14', the voltage drop across the cathode resistor 45 is the voltage jump at the anode8a via which is in turn transmitted via the resistor or 21 to resistor 26 to the grid of the other triode 30, the grid of the thyratrone 15 or 16. When transmitted, the cathode of which is connected to the cathode of the electronic 25 using power switching transistors. As a result of the summation arrangement for the purpose of achieving a low resistance of the two, the common cathode resistor source for controlling the power switching transistors stood 28 anode currents flowing through increases absolutely necessary.

this resistance is the voltage drop, whereby the control curve of an electronic step controller

Such an increase in the grid potential of 30 according to the invention is shown graphically in FIG.

Thyratrons 31 and 32 will cause the same to be put. It is assumed that the two

ignite and the two integration capacitors 5 integration resistors 3 and 4 are the same and the

and 6 discharged. The whole cycle will periodically tension the sources 1 and 2 from each other

repeatedly until under the influence of the regulation of the differentiate, in such a way that the following equilibrium

size controlled by the servomotor 18 the following applies:

both tilt circles come to tilt at the same time. E ₁ = E ,, ψ ΔΕ,

If the system deviation has an opposite. _,,. _, _ '. ,

Makes sense, the circuit T flips first to ^where fi J ^e voltage of source 1 and

14 ', and the thyratron 16 ignites, so that the rule ^E * means ^the voltage of the source 2,

ment takes place in the opposite sense. The working 40 By influencing the controlled variable are then

conditions of the electron tubes 29 and 30, the voltages E ₁ and E _{2 are} adjusted so that

by dimensioning the resistors 24, 25 and 26, _

27 as well as the size of the negative bias 37 ^ i ~~ ^ 2 ·

certainly. The ignition conditions are set in the same way. For other cases, the process is analogous, you have to

of the thyratrons 15 and 16 by the dimensioning 45, however, in the calculation of other equations

solution of the resistors 19 and 20 or 21 and 22, the switching frequency and its change & -

as well as the size of the negative bias struggle with the deviation from the actual value.

23 set. In the diagram according to FIG. 5, on the abscissa

When tilting the other tilting circle, z. B. 7 'to axis X the time t and on the ordinate axis Y the

14 ', would be plotted for a voltage level of the source E when the thyratron 15 was burning. The hori-

Ignite the thyratron 16 for a moment. A zontal line E _v means the state of equilibrium,

such activation of the servomotor with the opposite in which the voltages of the two sources E ₁ , E ₂

The set direction of rotation does not always need to be the same.

To be borrowed, yes it can even be due to its braking effect. It is assumed that E _{1 is} equal to zero and is welcome. If, however, it is not desired to 55 E ₂ double the value of the stresses in equilibrium, it is sufficient to have a weight condition of 15 m and 16 m on the grids. The control curve shown in broken lines of the thyratrone 15 and 16 capacitors 38 and 39 applies to the voltage changes to be connected that wrestled the ignition of the thyratrone 15 of the source E ₁ . Delay somewhat at time t ₀ = 0 (point d) and 16. the integration capacitor 6 begins from the

The setting of the breakover voltages for the breakover source 2 is charged with the current I ₂ . In the time circles 7 to 14 and 7 'to 14', different point Z ₁ (point b) can be carried out in the integration condensate manner. Two such possibilities 6 have reached the breakover voltage E _h , the circle T times are illustrated in FIGS. 2 and 3. to 14 'is tilted and ignites the thyratron 16.

F i g. 2 shows the setting by means of a counter-The servomotor 18 influences the controlled variable, and

lateral change in the size of the grid resistors 65 at the same time also change the voltages of the

10 and 10 'of the electron tube 8 and 8', between sources 1 and 2, in such a way that the voltage E ₁

which a potentiometer 40 is switched on, the source 1 of which rises, while the voltage E _{2 of} the

Runner is grounded. Source 2 is sinking.

The regulation can basically take place in three ways. The decisive factor for the course of the rule according to the lines, 4, B or C is the equality or inequality of the relationship

Here mean? E _{k is} the breakover voltage, C is the capacitance of capacitors 5 and 6, I is the change in the charging currents of the integration capacitors, which sets the control speed in A / sec. expresses that K is the control constant dependent on the parameters of the step controller.

If the above-mentioned relationship is the same, the regulation is critical and runs in a cycle according to the lines. If the product E _k · C · I is smaller than the constant K , the regulation will proceed aperiodically according to the line B. If the product E _k · C · I is greater than K , the control will proceed according to the line C with damped oscillations. After reaching point c at time t. _In the case of critical control A, the control comes to a standstill, the input breakover circuits continue to pulsate regularly, but the servomotor remains at rest as long as there is no deviation in the voltage of the two sources.

In the course of curves B and C, the two tilting circles are tilted at point c and c " , and the thyratrons 31 and 32 remove the charge on the integration capacitors 5 and 6, whereupon the operating cycle is repeated. In the case of aperiodic control B the thyratron 16 ignites at time t ₃ (point d ') , and the control continues until time i ₄ ' (point e ') when the second cycle c', d ', e' ends after the breakover voltage has been reached on the second integration circuit The regulation runs cyclically until the voltages E ₁ and E _{2 of} the two sources 1 and 2 are equal. In the case of regulation according to curve C , the voltage of the source E _{1 is} greater than after point c "has been reached E ₂ be. Therefore, in the second cycle c ", d", e " at point d", the thyratron 15 ignites earlier, and the regulation here will proceed in the opposite sense along the line d ", e". In this case, the regulation continues with damped oscillations until the two voltages are equal.

In order to adjust the controlled variable to the setpoint as quickly as possible, the operating conditions of the step controller are expediently selected in such a way that the regulation always proceeds according to the critical regulation, ie according to line A. If a very high level of control accuracy is required, the cycle must be selected to be long enough so that even a small deviation of the controlled variable from the setpoint activates the servomotor. The control speed is then very low. If rapid control is desired, a short duty cycle and a high control speed can be selected. The duration of the regulation is proportional to the difference between the integrals of the currents charging the capacitors 5 and 6 and is given by the following equation:

'2 Ί

t _r - h - h - Jh di - Ji ₁ - dt.

The electronic step controller works practically without a dead zone for medium and long periods of time i _2. In the case of very short periods of time (rapid pulsation), the duration of the ignition and extinction of the thyratrone can apply. At high control speeds, the inertia masses, i.e. the start-up and run-down times of the servomotor, must also be taken into account.

The electronic step controller can be used in particular for purposes of measurement and registration technology Digit meters and the like can be used.

Claims (6)

Patent claims: 1. Electrical step controller with at least two similarly structured circuits which are controlled as a function of the integral of the control deviation by two integration circuits each having an RC element , in which the ohmic component and / or the supply voltage of the i? C elements as a function of the The control variable or the comparison variable is changed and the control grid of an electron tube is connected to the capacitor of each RC element, both capacitors being able to be discharged via a discharge device which can be controlled by switching devices that can be triggered by the electron tubes so that when a certain voltage is reached the control cycle is interrupted at the capacitors of the two integration circuits, according to patent 1149 083, characterized in that the electron tube (7 or T) connected to the capacitor (5 or 6) with its grid (7 m or 7 m ') the input tube of a monostable tilting circuit (7, 8 or 7 ', 8') and that the anodes (8 a and 8 a ') of the output tubes each with the grid (15 m or 16 m) of two start the servomotor (18) in one or the other thyratrons or tacitrons (15 or 16) controlling the other direction and also each connected to the grid of a double triode (29, 30), the output of which is connected to the interconnected control grid (31m, 32 m) of two as a discharge circuit for the capacitors (5 , 6) serving thyratrone (31, 32) is connected. 2. Step controller according to claim 1, characterized in that the grid (15 m, 16 m) of the two thyratrone (15, 16) delay capacitors (38, 39) controlling the supply circuit of the servomotor (18) are connected. 3. Step controller according to claim 1 or 2, characterized in that between the anodes and grid of the thyratrone (15 and 16) for the purpose of electrical separation of the two circles as a Cathode amplifier switched electron tube (44) is inserted (Fig. 4). 4. Step controller according to claim 1, 2 or 3, characterized in that for setting the breakover voltage values of the two breakover circuits (7 to 14) and (7 'to 14') between the grid discharge resistors (10 and 10 ') of the electron tubes (8 m and 8 m ') a potentiometer (40) is switched on and its rotor is grounded (Fig. T). 5. Step controller according to claim 1, 2 or 3, characterized in that for setting the Breakover voltage values of the two breakover circuits (7 to 14 and 7 'to 14') the anode voltages of the Electron tubes (7 and T) can be changed by a switched on four-pole element, which has the shape of a π-element and by a potentiometer (41), the rotor of which is connected to the voltage source, and two connected between the ends of the potentiometer (41) and ground Resistors (42, 43) is formed, the anode resistors (11 and 11 ') also being connected to the two ends of the potentiometer (41) (Fig. 3). 10 6. Step controller according to claim 1 to 5, characterized in that instead of the thyratrone and electron tubes semiconductors (transistors) are used. Thick fonts considered:
Journal "Electronic Rundschau", year 1956, ίο Issue 5, pp. 140 to 142. 1 sheet of drawings